Parker Hannifin Manufacturing Srl user’s manual TPDM
12.1.4 Homing mode (operative mode 200)
In homing mode (Pr31=200) all the standard methods are available the index is referred to the
feedback C encoder input track Z, it is also possible to refer the index to the absolute (in the
shaft revolution) position of zero of the position feedback (resolver, SinCos absolute etc)
setting the homing method to the same absolute value as for track Z indexing but negative .In
this case the presetting of the position counters on the index is completed without axis
movement.
For homing procedures 3 predefined bit are use
b91.4 : Right limit switch
b91.5 : Left limit switch
b91.6 : home switch
The active level of the 3 bit can be inverted by mean of a bit mask mapped at index 0x2021 as
U16 where bit4,5,6 are processed by a XOR operation with the logical status of b91.4, 91.5
and 91.6 (ex.: by pico-PLC).
Note: in this mode, the firmware manages b40.2, b40.6, Pr8, Pr9, Pr10, Pr11, Pr12 and Pr55.
12.1.5 General information
This chapter describes the method by which a drive seeks the home position (also called, the
datum, reference point or zero point). There are various methods of achieving this using limit
switches at the ends of travel or a home switch (zero point switch) in mid-travel, most of the
methods also use the index (zero) pulse train from an incremental encoder.
Figure 20: The homing function
12.1.5.1 Input data description
The user can specify the speeds, acceleration and the method of homing. There is a further
object home offset which allows the user to displace zero in the user’s coordinate system from
the home position.
There are two homing speeds; in a typical cycle the faster speed is used to find the home
switch and the slower speed is used to find the index pulse. The manufacturer is allowed some
Status word
Position demand value
Control word
Homing option code
Homing speed
Homing acceleration
Home offset
Homing
To Next Page
Loading...
